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demo_hector_mapping.launch: when "hector" argument is false, icp_odometry is used

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matlabbe
2017-09-09 22:46:37 -04:00
parent bf17e7368f
commit db7118554d
7 changed files with 121 additions and 32 deletions
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src/CoreWrapper.cpp
+8 -2
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@@ -162,8 +162,14 @@ void CoreWrapper::onInit()
pnh.param("gen_scan_max_depth", genScanMaxDepth_, genScanMaxDepth_);
pnh.param("gen_scan_min_depth", genScanMinDepth_, genScanMinDepth_);
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
pnh.param("scan_cloud_normal_radius", scanCloudNormalRadius_, scanCloudNormalRadius_);
pnh.param("scan_normal_k", scanCloudNormalK_, scanCloudNormalK_);
if(pnh.hasParam("scan_cloud_normal_k") && !pnh.hasParam("scan_normal_k"))
{
ROS_WARN("rtabmap: Parameter \"scan_cloud_normal_k\" has been renamed to \"scan_normal_k\". "
"The value is still used. Use \"scan_normal_k\" to avoid this warning.");
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
}
pnh.param("scan_normal_radius", scanCloudNormalRadius_, scanCloudNormalRadius_);
pnh.param("stereo_to_depth", stereoToDepth_, stereoToDepth_);
pnh.param("odom_sensor_sync", odomSensorSync_, odomSensorSync_);
if(pnh.hasParam("flip_scan"))